You're in the middle of it, you have been for years and you can't see what's going on clearly. Also, if you were abused as a child, you may not understand unhealthy relationships, it may all be normal to you.
He is abusive. He is sexually abusing you. He has raped you and is sexually assaulting you in your sleep.
If you contact Rape Crisis, they have a chat facility if you don't want to talk to anyone, they will validate what I'm saying. You are in an abusive relationship OP and it is bad.
It's hardly surprising you don't want to see it because the upheaval of splitting up and facing up to abuse is hard. However, you cannot remain with him because he's abusing you and you have to get out.
You need to demonstrate a healthy, loving environment for your children so they don't go on, like you, to mirror their home life when they're adults. You need to get out, for you, for the sake of your mental health and happiness. Continuing like this is going to destroy you.